ThriftTsConfig

A TypeScript configuration management system for robotics applications using Apache Thrift serialization.

Quick Start

1. Install dependencies

   npm install

2. Generate Thrift types

   npm run generate-thrift

3. Create your config Copy the example configuration:

   cp -r example_config/ my_robot_config/

4. Generate binary config

   npm run config -- --dir my_robot_config/

What it does

This tool takes your robot configuration (cameras, sensors, pathfinding, etc.) and converts it into a compact binary format that your robot can quickly read. It handles:

• Camera settings - Multiple camera configurations
• LiDAR sensors - Various LiDAR device setups
• April tag detection - Vision-based positioning
• Position tracking - Kalman filters and odometry
• Pathfinding - Navigation configurations
• Recording - Data capture settings

Output Formats

• Binary (default) - Fast, compact format for robots
• JSON - Human-readable format for debugging
• JSON + Binary - Both formats combined

Project Structure

example_config/     # Sample robot configurations
schema/            # Thrift schema definitions
generated/         # Auto-generated TypeScript types
scripts/          # Build and conversion tools

Usage Examples

# Generate binary config for your robot
npm run config -- --dir my_robot_config/

# Output as JSON for debugging
npm run config -- --dir my_robot_config/ json

# Save to file instead of stdout
npm run config -- --dir my_robot_config/ file